def rotate(self, angleInDegrees):
angleInDegrees = int(round(angleInDegrees, 0))
Logger.logEverywhere("ROBOT: rotating of " + str(angleInDegrees) + " degrees")
self.arduinoInterface.write('R' + str(angleInDegrees) + '.')
self.arduinoInterface.checkIfOperationIsOver()
def advance(self, distanceInCentimeters):
distanceInMillimeters = int(round(distanceInCentimeters * 10, 0))
Logger.logEverywhere("ROBOT: advancing of " + str(distanceInMillimeters) + " mm")
self.arduinoInterface.write('D' + str(distanceInMillimeters) + '.')
self.arduinoInterface.write('A0.')
self.arduinoInterface.write('V150.')
self.arduinoInterface.write('M.')
self.arduinoInterface.checkIfOperationIsOver()
def shuffle(self, distanceInCentimeters, relativeAngleInDegrees):
distanceInMillimeters = int(round(distanceInCentimeters * 10, 0))
relativeAngleInDegrees = int(round(relativeAngleInDegrees, 0))
Logger.logEverywhere("ROBOT: shuffling of " + str(distanceInMillimeters) + " mm at angle " + str(
relativeAngleInDegrees) + " degrees")
self.arduinoInterface.write('D' + str(distanceInMillimeters) + '.')
self.arduinoInterface.write('A' + str(relativeAngleInDegrees) + '.')
self.arduinoInterface.write('V100.')
self.arduinoInterface.write('M.')
self.arduinoInterface.checkIfOperationIsOver()
